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Semi-Global Output Containment Control of Linear Multi-agent...

Semi-Global Output Containment Control of Linear Multi-agent Systems with Actuator Saturation

作     者:Liangren Shi Zongli Lin 

作者单位:Student Innovation Center and Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information Processing of the Ministry of Education Charles L. Brown Department of Electrical and Computer Engineering University of Virginia 

会议名称:《第37届中国控制会议》

会议日期:2018年

学科分类:0711[理学-系统科学] 12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 07[理学] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术(可授工学、理学学位)] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基  金:Worksupported in part by the National Natural Science Foundation of China under Grant Nos.61603250 and 61733018 in part by the Shanghai Natural Science Foundation under Grant No.17ZR1445400 in part by the China Postdoctoral Science Foundation under Grant Nos.2015M580332 and 2016T90373 in part by the US Army Research Office under Grant W911NF-17-1-0535 

关 键 词:Multi-agent systems output containment control output regulation low gain feedback actuator saturation 

摘      要:In this paper, we study the semi-global output containment control problem of a multi-agent system in the presence of actuator saturation over a directed network. The leader and follower agents are of different dynamics, and the follower agents are affected by disturbances generated by the leader agents through directed paths in the communication topology. The control objective of the output containment control is to drive the output trajectories of the follower agents to converge to the convex hull spanned by the outputs of the leader agents in the presence of disturbances. Low gain feedback containment protocols are constructed based on the output regulation approach and distributed observers. It is shown that semi-global output containment control can be achieved by the proposed protocols, if each follower agent is connected to at least one leader agent through a directed path in the communication topology. Simulation results verify the theoretical conclusions.

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